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<div class="title">robot_eye_grabber.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &quot;pcl/pcl_config.h&quot;</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_IO_ROBOT_EYE_GRABBER_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_IO_ROBOT_EYE_GRABBER_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/io/grabber.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/io/impl/synchronized_queue.hpp&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;boost/asio.hpp&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;boost/thread/thread.hpp&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1_robot_eye_grabber.html">   56</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_robot_eye_grabber.html">RobotEyeGrabber</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_grabber.html">Grabber</a></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1_robot_eye_grabber.html#af269ffd6f6cdd2b68b7d8fc448566a68">   64</a></span>&#160;      <span class="keyword">typedef</span> void (sig_cb_robot_eye_point_cloud_xyzi) (</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;          <span class="keyword">const</span> boost::shared_ptr&lt;const pcl::PointCloud&lt;pcl::PointXYZI&gt; &gt;&amp;);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1_robot_eye_grabber.html#a9d77c6c6f2b2322de19093a557dd41a4">   68</a></span>&#160;      <a class="code" href="classpcl_1_1_robot_eye_grabber.html#a9d77c6c6f2b2322de19093a557dd41a4">RobotEyeGrabber</a> ();</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1_robot_eye_grabber.html#a1a97f8082f861fedaf833e846e0e6117">   71</a></span>&#160;      <a class="code" href="classpcl_1_1_robot_eye_grabber.html#a1a97f8082f861fedaf833e846e0e6117">RobotEyeGrabber</a> (<span class="keyword">const</span> boost::asio::ip::address&amp; ipAddress, <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> port=443);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1_robot_eye_grabber.html#afa50d6e29d20541845803184a8790159">   74</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_robot_eye_grabber.html#afa50d6e29d20541845803184a8790159">~RobotEyeGrabber</a> () throw ();</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1_robot_eye_grabber.html#a19c0f95d6efd2262e8ac65003806fcf5">   78</a></span>&#160;      virtual <span class="keywordtype">void</span> start ();</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classpcl_1_1_robot_eye_grabber.html#a8258b08f19e86e7683005a207e36294a">   81</a></span>&#160;      virtual <span class="keywordtype">void</span> stop ();</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classpcl_1_1_robot_eye_grabber.html#ada824cda8dbcaba801a93ebab5704d74">   86</a></span>&#160;      virtual std::<span class="keywordtype">string</span> getName () const;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classpcl_1_1_robot_eye_grabber.html#a9b30bb97a44488b0075b78cc7b2e21b6">   91</a></span>&#160;      virtual <span class="keywordtype">bool</span> isRunning () const;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1_robot_eye_grabber.html#a844d4ef067a8828bcc93c02dfa9f7816">   95</a></span>&#160;      virtual <span class="keywordtype">float</span> getFramesPerSecond () const;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1_robot_eye_grabber.html#a25052ffd9adb54804df76457b712f0a9">  100</a></span>&#160;      <span class="keywordtype">void</span> setSensorAddress (const boost::asio::ip::address&amp; ipAddress);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      const boost::asio::ip::address&amp; getSensorAddress () const;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1_robot_eye_grabber.html#a23099921443f124b5cd6797bde99332a">  106</a></span>&#160;      <span class="keywordtype">void</span> setDataPort (<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> port);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> getDataPort () const;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classpcl_1_1_robot_eye_grabber.html#af661e33a3a4cb9413ceb1c782015cb91">  112</a></span>&#160;      <span class="keywordtype">void</span> setSignalPointCloudSize (std::<span class="keywordtype">size_t</span> numerOfPoints);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      std::<span class="keywordtype">size_t</span> getSignalPointCloudSize () const;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1_robot_eye_grabber.html#ad480a9f43620667f09175f726b55e29b">  119</a></span>&#160;      boost::shared_ptr&lt;pcl::<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt;pcl::<a class="code" href="structpcl_1_1_point_x_y_z_i.html">PointXYZI</a>&gt; &gt; getPointCloud() const;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    private:</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keywordtype">bool</span> terminate_thread_;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keywordtype">size_t</span> signal_point_cloud_size_;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> data_port_;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      enum { MAX_LENGTH = 65535 };</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> receive_buffer_[MAX_LENGTH];</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> data_size_;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      boost::asio::ip::address sensor_address_;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      boost::asio::ip::udp::endpoint sender_endpoint_;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      boost::asio::io_service io_service_;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      boost::shared_ptr&lt;boost::asio::ip::udp::socket&gt; socket_;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      boost::shared_ptr&lt;boost::thread&gt; socket_thread_;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      boost::shared_ptr&lt;boost::thread&gt; consumer_thread_;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <a class="code" href="classpcl_1_1_synchronized_queue.html">pcl::SynchronizedQueue&lt;boost::shared_array&lt;unsigned char&gt;</a> &gt; packet_queue_;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      boost::shared_ptr&lt;pcl::PointCloud&lt;pcl::PointXYZI&gt; &gt; point_cloud_xyzi_;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      boost::signals2::signal&lt;sig_cb_robot_eye_point_cloud_xyzi&gt;* point_cloud_signal_;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keywordtype">void</span> consumerThreadLoop ();</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keywordtype">void</span> socketThreadLoop ();</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="keywordtype">void</span> asyncSocketReceive ();</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keywordtype">void</span> resetPointCloud ();</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keywordtype">void</span> socketCallback (<span class="keyword">const</span> boost::system::error_code&amp; error, std::size_t number_of_bytes);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keywordtype">void</span> convertPacketData (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *data_packet, <span class="keywordtype">size_t</span> length);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keywordtype">void</span> computeXYZI (<a class="code" href="structpcl_1_1_point_x_y_z_i.html">pcl::PointXYZI</a>&amp; point_XYZI, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* point_data);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keywordtype">void</span> computeTimestamp (boost::uint32_t&amp; timestamp, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>* point_data);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  };</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;}</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_IO_ROBOT_EYE_GRABBER_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_grabber_html"><div class="ttname"><a href="classpcl_1_1_grabber.html">pcl::Grabber</a></div><div class="ttdoc">Grabber interface for PCL 1.x device drivers</div><div class="ttdef"><b>Definition:</b> grabber.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_robot_eye_grabber_html"><div class="ttname"><a href="classpcl_1_1_robot_eye_grabber.html">pcl::RobotEyeGrabber</a></div><div class="ttdoc">Grabber for the Ocular Robotics RobotEye sensor.</div><div class="ttdef"><b>Definition:</b> robot_eye_grabber.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_robot_eye_grabber_html_a1a97f8082f861fedaf833e846e0e6117"><div class="ttname"><a href="classpcl_1_1_robot_eye_grabber.html#a1a97f8082f861fedaf833e846e0e6117">pcl::RobotEyeGrabber::RobotEyeGrabber</a></div><div class="ttdeci">RobotEyeGrabber(const boost::asio::ip::address &amp;ipAddress, unsigned short port=443)</div><div class="ttdoc">RobotEyeGrabber constructor taking a specified IP address and data port.</div></div>
<div class="ttc" id="aclasspcl_1_1_robot_eye_grabber_html_a9d77c6c6f2b2322de19093a557dd41a4"><div class="ttname"><a href="classpcl_1_1_robot_eye_grabber.html#a9d77c6c6f2b2322de19093a557dd41a4">pcl::RobotEyeGrabber::RobotEyeGrabber</a></div><div class="ttdeci">RobotEyeGrabber()</div><div class="ttdoc">RobotEyeGrabber default constructor.</div></div>
<div class="ttc" id="aclasspcl_1_1_robot_eye_grabber_html_afa50d6e29d20541845803184a8790159"><div class="ttname"><a href="classpcl_1_1_robot_eye_grabber.html#afa50d6e29d20541845803184a8790159">pcl::RobotEyeGrabber::~RobotEyeGrabber</a></div><div class="ttdeci">virtual ~RobotEyeGrabber()</div><div class="ttdoc">virtual Destructor inherited from the Grabber interface. It never throws.</div></div>
<div class="ttc" id="aclasspcl_1_1_synchronized_queue_html"><div class="ttname"><a href="classpcl_1_1_synchronized_queue.html">pcl::SynchronizedQueue</a></div><div class="ttdef"><b>Definition:</b> synchronized_queue.hpp:52</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_i_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_i.html">pcl::PointXYZI</a></div><div class="ttdef"><b>Definition:</b> point_types.hpp:452</div></div>
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